def get_left_elbow_yaw(kinect_pos, shoulder_roll=None, shoulder_pitch=None, world=None):
if world is None:
world = get_robot_world(kinect_pos)
if shoulder_roll is None:
shoulder_roll = get_left_shoulder_roll(kinect_pos, world)
if shoulder_pitch is None:
shoulder_pitch = get_left_shoulder_pitch(kinect_pos, world)
shoulder = kinect_pos[kinecthandler.joints_map[joints.SHOULDER_LEFT]]
elbow = kinect_pos[kinecthandler.joints_map[joints.ELBOW_LEFT]]
wrist = kinect_pos[kinecthandler.joints_map[joints.WRIST_LEFT]]
pitch_matrix = np.matrix([[1, 0, 0],
[0, np.cos(shoulder_pitch), -np.sin(shoulder_pitch)],
[0, np.sin(shoulder_pitch), np.cos(shoulder_pitch)]])
roll_matrix = np.matrix([[np.cos(shoulder_roll), 0, np.sin(shoulder_roll)],
[0, 1, 0],
[-np.sin(shoulder_roll), 0, np.cos(shoulder_roll)]])
transform = world[0] * pitch_matrix * roll_matrix
elbow_shoulder = utils.get_vector(shoulder, elbow, transform=transform)
elbow_shoulder = utils.normalize(elbow_shoulder)
modified_elbow = [elbow[0], elbow[1] + 2, elbow[2]]
elbow_vertical = utils.get_vector(modified_elbow, elbow, transform=transform)
elbow_wrist = utils.get_vector(wrist, elbow, transform=transform)
elbow_wrist = utils.normalize([elbow_wrist[0], elbow_wrist[1]])
cross_arm = np.cross(elbow_vertical, elbow_shoulder)
cross_arm = utils.normalize([cross_arm[0], cross_arm[1]])
# cross_arm = np.array([cross_arm[0], cross_arm[1]])
# elbow_wrist = np.array([elbow_wrist[0], elbow_wrist[1]])
sign = -1
if elbow_wrist[1] > 0:
sign = 1
dot = utils.normalized_dot(elbow_wrist, cross_arm)
return sign * (np.arccos(dot))
def get_left_knee_pitch(kinect_pos, world=None):
if world is None:
world = get_robot_world(kinect_pos)
hip = kinect_pos[kinecthandler.joints_map[joints.HIP_LEFT]]
knee = kinect_pos[kinecthandler.joints_map[joints.KNEE_LEFT]]
ankle = kinect_pos[kinecthandler.joints_map[joints.ANKLE_LEFT]]
hip_knee = utils.get_vector(knee, hip, transform=world[0])
knee_ankle = utils.get_vector(ankle, knee, transform=world[0])
res = np.arccos(utils.normalized_dot(hip_knee, knee_ankle))
res = min(np.pi/2., res)
return res
def get_left_shoulder_roll(kinect_pos, world=None):
if world is None:
world = get_robot_world(kinect_pos)
cross = np.cross(world[1][1], world[1][2])
shoulder = kinect_pos[kinecthandler.joints_map[joints.SHOULDER_LEFT]]
elbow = kinect_pos[kinecthandler.joints_map[joints.ELBOW_LEFT]]
shoulder_elbow = utils.get_vector(elbow, shoulder, transform=world[0])
res = -1 * ((np.pi / 2.) - np.arccos(utils.normalized_dot(shoulder_elbow, cross)))
res = max(res, -0.085)
res = min(res, 1.13)
return res
def get_left_elbow_roll(kinect_pos, world=None):
if world is None:
world = get_robot_world(kinect_pos)
shoulder = kinect_pos[kinecthandler.joints_map[joints.SHOULDER_LEFT]]
elbow = kinect_pos[kinecthandler.joints_map[joints.ELBOW_LEFT]]
wrist = kinect_pos[kinecthandler.joints_map[joints.WRIST_LEFT]]
shoulder_elbow = utils.get_vector(elbow, shoulder, transform=world[0])
elbow_wrist = utils.get_vector(wrist, elbow, transform=world[0])
res = -np.arccos(utils.normalized_dot(shoulder_elbow, elbow_wrist))
res = min(res, -0.069)
res = max(res, -1.483)
return res
def get_left_ankle_pitch(kinect_pos, world=None):
# TODO : Test
if world is None:
world = get_robot_world(kinect_pos)
knee = kinect_pos[kinecthandler.joints_map[joints.KNEE_LEFT]]
ankle = kinect_pos[kinecthandler.joints_map[joints.ANKLE_LEFT]]
foot = kinect_pos[kinecthandler.joints_map[joints.FOOT_LEFT]]
ankle_foot = utils.get_vector(foot, ankle, transform=world[0])
ankle_knee = utils.get_vector(knee, ankle, transform=world[0])
res = -1*(np.pi/2 - np.arccos(utils.normalized_dot(ankle_foot, ankle_knee)))
res = max(-np.pi/4., res)
res = min(0, res)
return res
def get_hip_pitch(kinect_pos, ankle_pitch=None, world=None):
# TODO : Test
if world is None:
world = get_robot_world(kinect_pos)
if ankle_pitch is None:
ankle_pitch = get_right_ankle_pitch(kinect_pos, world=world)
spine_base = kinect_pos[kinecthandler.joints_map[joints.SPINE_BASE]]
spine_shoulder = kinect_pos[kinecthandler.joints_map[joints.SPINE_SHOULDER]]
modified_spine_base = [spine_base[0], spine_base[1] - 1, spine_base[2]]
spine = utils.get_vector(spine_shoulder, spine_base, transform=world[0])
vertical_spine = utils.get_vector(spine_base, modified_spine_base, transform=world[0])
angle = -np.arccos(utils.normalized_dot(vertical_spine, spine))
res = angle + ankle_pitch
res = min(res, 0.34)
res = max(res, -1.39)
return res
def get_head_pitch(kinect_pos, world=None, must_filter=True):
if world is None:
world = get_robot_world(kinect_pos)
head = kinect_pos[kinecthandler.joints_map[joints.HEAD]]
neck = kinect_pos[kinecthandler.joints_map[joints.NECK]]
modified_neck = [neck[0], neck[1] - 1, neck[2]]
neck_head = utils.get_vector(head, neck, transform=world[0])
modified_neck_head = utils.get_vector(head, modified_neck, transform=world[0])
res = np.arccos(utils.normalized_dot(neck_head, modified_neck_head))
sign = 1
if head[2] > neck[2]:
sign = -1
res *= sign
res = max(res, -0.66)
res = min(res, 0.5)
if must_filter:
res = utils.value_filter("h_pitch", res)
return res
def get_robot_world(kinect_pos):
hip_right = kinect_pos[kinecthandler.joints_map[joints.HIP_RIGHT]]
hip_left = kinect_pos[kinecthandler.joints_map[joints.HIP_LEFT]]
spine_shoulder = kinect_pos[kinecthandler.joints_map[joints.SPINE_SHOULDER]]
hip_vector = utils.get_vector(hip_right, hip_left)
spine_shoulder_to_hip = utils.get_vector(hip_right, spine_shoulder)
z = utils.normalized_cross(hip_vector, spine_shoulder_to_hip)
x = utils.normalize(hip_vector)
y = np.cross(z, x)
z_0 = np.array([0, 0, 1])
y_0 = np.array([0, 1, 0])
x_0 = np.array([1, 0, 0])
x1 = utils.normalized_dot(x, x_0)
x2 = utils.normalized_dot(x, y_0)
x3 = utils.normalized_dot(x, z_0)
y1 = utils.normalized_dot(y, x_0)
y2 = utils.normalized_dot(y, y_0)
y3 = utils.normalized_dot(y, z_0)
z1 = utils.normalized_dot(z, x_0)
z2 = utils.normalized_dot(z, y_0)
z3 = utils.normalized_dot(z, z_0)
A = np.matrix([[x1, x2, x3], [y1, y2, y3], [z1, z2, z3]])
return [A, np.array([x, y, z])]